CN106454711A - Indoor robot positioning method and device - Google Patents
Indoor robot positioning method and device Download PDFInfo
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- CN106454711A CN106454711A CN201610982663.7A CN201610982663A CN106454711A CN 106454711 A CN106454711 A CN 106454711A CN 201610982663 A CN201610982663 A CN 201610982663A CN 106454711 A CN106454711 A CN 106454711A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/0236—Assistance data, e.g. base station almanac
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0278—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves involving statistical or probabilistic considerations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0284—Relative positioning
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Probability & Statistics with Applications (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention provides an indoor robot positioning method and device. The indoor robot positioning method comprises the following steps: acquiring a ground radio frequency recognition label through a robot so as to obtain label information; according to a position coordinate in the label information, calculating a position coordinate of the robot; acquiring a distribution diagram of single intensity indication values of a wireless personal area network received in different reference positions inside a room in which the robot exists; modifying the signal intensity indication values, received by the robot, of the wireless personal area network so as to obtain modified values, calculating matching probability of indication values of the modified values corresponding to different reference positions on the distribution diagram, and confirming an assistant positioning position coordinate of the robot according to the matching probability; confirming an actual position coordinate of the robot according to the position coordinate of the robot and the assistant positioning position coordinate of the robot. By adopting the indoor robot positioning method and the indoor robot positioning device, when positioning is implemented on multiple floors, wireless personal area network nodes do not need to be arranged on each floor, so that the number of the wireless personal area network nodes can be reduced, the cost can be lowered, signal interference of layers can be avoided, and positioning can be accurate.
Description
Technical field
The present invention relates to robot and field of locating technology, in particular to a kind of Position Method for Indoor Robot and
Device.
Background technology
With the continuous development of robotics, Indoor Robot has obtained increasing application, such as machine of sweeping the floor
Can people etc., indoors in robot application, accurately position Indoor Robot non-for the path planning of Indoor Robot
Often important, therefore, Indoor Robot positioning is the key realizing robot autonomous navigation, for the Automated water improving robot
Flat have great importance.
In existing indoor location technology, it is mostly using WLAN (Wireless Local Area
Networks, WLAN) positioned, but, when needing in multilayer floor location, need, in each floor, route is installed
Device, relatively costly, in addition, when carrying out robot localization in certain floor, needing the net sending using the router of this floor
Network signal is positioned, however it is possible to the interference of the faint network signal of other floors can be subject to so that positioning is inaccurate.
Content of the invention
In view of this, the purpose of the embodiment of the present invention is to provide a kind of Position Method for Indoor Robot and device, to solve
When certainly positioning using WLAN in prior art, when there being multilayer floor, need all router to be installed in each floor, such side
The route tolerance that face needs is bigger, leads to relatively costly, on the other hand, is easily disturbed by other floors, leads to position
Inaccurate problem.
In a first aspect, embodiments providing a kind of Position Method for Indoor Robot, wherein, methods described includes：
Obtain robot and gather the label information that obtains of RFID tag on ground, described label information include described in penetrate
The position coordinates of frequency identification tag；
According to the position coordinates of described RFID tag, calculate the position coordinates of described robot；
Obtain described robot different reference positions receive indoors the signal strength indication value of Wireless Personal Network
Distribution map；
The signal strength indication value of the Wireless Personal Network that described robot receives is modified, obtains described signal strength signal intensity
The correction value of indicated value, calculates the signal of the Wireless Personal Network that described correction value reference position different from described distribution map receives
The matching probability of strength indicator value, determines the auxiliary positioning position coordinates of described robot according to described matching probability；
The auxiliary positioning position coordinates of the position coordinates according to described robot and described robot determines described robot
Actual position coordinate.
In conjunction with a first aspect, embodiments providing the first possible implementation of above-mentioned first aspect, its
In, the auxiliary positioning position coordinates of the described position coordinates according to described robot and described robot determines described robot
After actual position coordinate, also include：
Obtain the reading of encoder in robot described in current time；
According to current time, the reading of encoder and the reading of encoder described in previous moment determine described robot
Towards angle.
In conjunction with a first aspect, the possible implementation of the second that embodiments provides above-mentioned first aspect, its
In, the described signal strength indication value to the Wireless Personal Network that described robot receives is modified, and obtains described signal strength signal intensity
The correction value of indicated value, including：
According to the signal strength indication value of the Wireless Personal Network in multiple reception for the robot described in Preset Time, lead to
Cross formula (1) signal strength indication value of the Wireless Personal Network that described robot receives is modified；
Wherein, in formula (1), RSSI is the correction value of described signal strength indication value, and n is to receive in Preset Time
The number of the signal strength indication value of Wireless Personal Network, λ is filtering characteristic parameter, RSSIiRobot described in i-th moment connects
The signal strength indication value of the Wireless Personal Network received.
In conjunction with a first aspect, embodiments providing the third possible implementation of above-mentioned first aspect, its
In, the described position coordinates according to described RFID tag, calculate the position coordinates of described robot, including：
According to the position coordinates of described RFID tag, calculate the center of the figure being made up of described RFID tag
Point coordinates；
Described center point coordinate is defined as the position coordinates of described robot.
In conjunction with a first aspect, embodiments providing the 4th kind of possible implementation of above-mentioned first aspect, its
In, the auxiliary positioning position coordinates of the described position coordinates according to described robot and described robot determines described robot
Actual position coordinate, including：
Calculate the difference coordinate of the position coordinates of described robot and the auxiliary positioning position coordinates of described robot；
The absolute value of described difference coordinate is compared with preset coordinate；
When described absolute value is less than or equal to described preset coordinate, by the position coordinates of described robot or described machine
Any one in the auxiliary positioning position coordinates of people is defined as the actual position coordinate of described robot；
When described absolute value is more than described preset coordinate, the position coordinates to described robot and described robot auxiliary
Help position location coordinate to carry out fusion treatment, the position coordinates obtaining is defined as the actual bit of described robot after fusion treatment
Put coordinate.
In conjunction with a first aspect, embodiments providing the 5th kind of possible implementation of above-mentioned first aspect, its
In, the described signal strength signal intensity instruction calculating the Wireless Personal Network that described correction value reference position different from described distribution map receives
The matching probability of value, including：
The signal strength indication value of the Wireless Personal Network that each described reference position receives is obtained from described distribution map
And variance；
The signal strength indication value of the Wireless Personal Network being received according to described correction value, each described reference position and side
Difference, calculates the matching probability of the signal strength indication value of Wireless Personal Network that described correction value is received with described reference position.
Second aspect, embodiments provides a kind of Indoor Robot positioner, wherein, described device includes：
First acquisition module, gathers, for obtaining robot, the label information that on ground, RFID tag obtains, described
Label information includes the position coordinates of described RFID tag；
First computing module, for the position coordinates according to described RFID tag, calculates the position of described robot
Coordinate；
Second acquisition module, for obtain described robot different reference positions receive indoors Wireless Personal Network
The distribution map of signal strength indication value；
First determining module, for repairing to the signal strength indication value of the Wireless Personal Network that described robot receives
Just, obtain the correction value of described signal strength indication value, calculate described correction value and connect from different reference positions on described distribution map
The matching probability of the signal strength indication value of Wireless Personal Network received, determines the auxiliary of described robot according to described matching probability
Position location coordinate；
Second determining module, the auxiliary positioning position for the position coordinates according to described robot and described robot is sat
Mark determines the actual position coordinate of described robot.
In conjunction with second aspect, embodiments provide the first possible implementation of above-mentioned second aspect, its
In, described device also includes：
3rd acquisition module, for obtaining the reading of encoder in robot described in current time；
3rd determining module, the reading of encoder described in the reading for encoder according to current time and previous moment
Number determine described robot towards angle.
In conjunction with second aspect, embodiments provide the possible implementation of the second of above-mentioned second aspect, its
In, described first determining module includes：
Amending unit, for the signal of the Wireless Personal Network in multiple reception according to robot described in Preset Time
Strength indicator value, is modified to the signal strength indication value of the Wireless Personal Network that described robot receives by formula (1)；
Wherein, in formula (1), RSSI is the correction value of described signal strength indication value, and n is to receive in Preset Time
The number of the signal strength indication value of Wireless Personal Network, λ is filtering characteristic parameter, RSSIiRobot described in i-th moment connects
The signal strength indication value of the Wireless Personal Network received.
In conjunction with second aspect, present aspect embodiment provides the third possible implementation of above-mentioned second aspect, its
In, described first computing module includes：
Computing unit, for the position coordinates according to described RFID tag, calculates by described RFID tag structure
The center point coordinate of the figure becoming；
First determining unit, for being defined as the position coordinates of described robot by described center point coordinate.
Position Method for Indoor Robot provided in an embodiment of the present invention and device, using RF identification positioning and wireless personal area
To robot, position indoors positions two methods of net positioning simultaneously, when when multilayer floor is positioned it is not necessary to
Wireless Personal Network child node is all set in each layer, on the one hand decreases the number of the Wireless Personal Network child node of setting, reduce
Cost, the interference of network signal is so that accurate positioning between avoiding every layer simultaneously.
For enabling the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below will be attached to use required in embodiment
Figure is briefly described it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, and it is right to be therefore not construed as
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
The flow chart that Fig. 1 shows the Position Method for Indoor Robot that the embodiment of the present invention 1 is provided；
Fig. 2 shows the structural representation of the Indoor Robot positioner that the embodiment of the present invention 2 is provided.
Specific embodiment
Purpose, technical scheme and advantage for making the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
Middle accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described it is clear that described embodiment only
It is a part of embodiment of the present invention, rather than whole embodiments.The present invention generally described and illustrated in accompanying drawing herein is real
The assembly applying example can be arranged with various different configurations and design.Therefore, below to the present invention's providing in the accompanying drawings
The detailed description of embodiment is not intended to limit the scope of claimed invention, but is merely representative of the selected reality of the present invention
Apply example.Based on embodiments of the invention, the institute that those skilled in the art are obtained on the premise of not making creative work
There is other embodiment, broadly fall into the scope of protection of the invention.
In view of in correlation technique, being mostly that robot indoor positioning is carried out using WLAN, but, if there is multi-story
During layer, need to be respectively mounted router in every floor layer, the router so installed is more, leads to relatively costly, in addition, when at certain
When floor layer carries out robot localization, the WLAN sending using the router of this floor is needed to be positioned, but, this
Sample may be subject to the interference of the wireless lan signal of other floors so that positioning is inaccurate.Based on this, the embodiment of the present invention
Provide a kind of Indoor Robot method and device, be described below by embodiment.
Embodiment 1
Embodiments provide a kind of Position Method for Indoor Robot, in the method, using Wireless Personal Network
(ZigBee) robot is positioned indoors, when need when multilayer floor is positioned it is not necessary to all arrange at every layer
Zigebee node, decreases ZigBee node number, reduces cost, simultaneously it is thus also avoided that network signal between every layer
Interference is so that positioning is more accurate.
When carrying out robot localization using method provided in an embodiment of the present invention, need to paste multiple radio frequencies on ground indoors
Identification (Radio Frequency Identification, RFID) label, above-mentioned RFID label tag can ordered arrangement indoors,
It is uniformly distributed on the ground it is also possible to random alignment, the embodiment of the present invention does not limit the concrete arrangement of above-mentioned RFID label tag
Mode.
In addition, it is additionally provided with multiple ZigBee nodes indoors, ZigBee node can be believed to emission Ziogbee
Number, robot is provided with terminal node, for receiving the ZigBee signal to emission for the ZigBee node, moves to indoors
Optional position all can receive the ZigBee signal of ZigBee node transmitting.
In some specific embodiments, such as, the area in room is 100m2, then selecting frequency is the active of 2.4G
RFID label tag, the distance apart from ground for the rfid interrogator be 10cm, ZigBee node be spaced apart 0.5m.Certainly, it is herein
List the arrangement mode of a kind of RFID label tag and ZigBee node, the not arrangement to RFID label tag and ZigBee node is entered
Row limits.
As shown in figure 1, when robot indoor positioning is carried out using method provided in an embodiment of the present invention, including step
S110-S160, specific as follows：
S110, obtains robot and gathers the label information that on ground, RFID tag obtains, this label information includes penetrating
The position coordinates of frequency identification tag.
Above-mentioned robot can be sweeping robot, make an inventory robot and safety check robot etc., and above-mentioned robot is in work
When, can be to move or rest on certain position indoors.
RFID label tag is pasted on the ground, RFID label tag is numbered, each RFID label tag has a unique volume
Number, therefore, contain the unique number and this label of this RFID label tag position coordinates indoors in RFID label tag internal memory, at this
In inventive embodiments, certain indoor corner can be defined as the origin of coordinates, in the present invention all of position coordinates be all with
This corner is as the origin of coordinates.
In the embodiment of the present invention, the base in robot is provided with rfid interrogator, in robot moving process,
Or when robot rests on certain position, RFID gathers the label information of RFID label tag on ground, when robot moves to certain
During individual position, the rfid interrogator in robot can gather the label information of multiple RFID label tag around robot, collection
Label information includes numbering and the position coordinates of this RFID label tag.
When robot moves indoors, the rfid interrogator in robot understands the RFID label tag on Real-time Collection ground,
Positioner obtains the label information of robot collection.This positioner may be mounted in robot it is also possible to not reside at
In robot, remotely it is connected by wireless network with the rfid interrogator in robot, obtain the rfid interrogator in robot
The label information of collection.
S120, according to the position coordinates of RFID tag, the position coordinates of calculating robot.
After getting the label information of RFID label tag of robot collection, according to the RFID label tag in this label information
Position coordinates, the position coordinates of calculating robot, specifically include：
According to the position coordinates of RFID tag, calculate the center point coordinate of the figure being made up of RFID tag；
Above-mentioned center point coordinate is defined as the position coordinates of robot.
Robot can gather the label information of multiple RFID label tag in each position, when the number of the RFID label tag of collection
During for three, three RFID label tag may be constructed triangle, calculates the center point coordinate of triangle, by the central point of this triangle
Coordinate is defined as the position coordinates of robot, and when the number of the RFID label tag of collection is four, four RFID label tag can be with structure
Quadrangularly, calculates the center point coordinate of quadrangle, the center point coordinate of this quadrangle is defined as the position coordinates of robot,
Certainly, the number of the RFID label tag of above-mentioned collection can also be other numerical value, the number of the RFID label tag of above-mentioned collection and RFID
The frequency of read write line has relation, and the embodiment of the present invention does not limit the number of the RFID label tag of above-mentioned collection.
Below by by collection RFID label tag number be three as a example, introduce calculating robot position coordinates concrete
Process：This RFID label tag that is stored with an rfid tag position coordinates indoors, the label information of the RFID according to collection can
To obtain this RFID label tag position coordinates indoors, such as, robot when certain position, three RFID label tag of collection
Position coordinates be respectively (xk1, yk1)、(xk2, yk2)、(xk3, yk3), according to the position coordinates of above three RFID label tag, pass through
FormulaCalculate the position coordinates of robot, wherein,
In above-mentioned formula, (x, y) is the position coordinates of robot.
S130, obtains institute of the robot signal strength indication value of Wireless Personal Network of different reference positions reception indoors
Distribution map.
When being positioned to robot using Wireless Personal Network it is necessary first to obtain what indoor difference reference position received
The signal strength indication value of Wireless Personal Network, can draw out machine by reference to position indicated value corresponding with this reference position
People the distribution map of the signal strength indication value of Wireless Personal Network that receives of different reference positions indoors.
Therefore, the method positioning robot being provided using present aspect embodiment indoors for value before, need set up
Above-mentioned distribution map, detailed process includes：The signal strength indication value of the Wireless Personal Network being received according to different reference positions meets
Normal distribution, can obtain likelihood functionIn this likelihood function, μ is above-mentioned reference bit
Put the mean value of the signal strength indication value of the Wireless Personal Network of reception, σ is that the signal of the Wireless Personal Network that above-mentioned reference position receives is strong
The variance of degree indicated value, xiThe signal strength indication value of i-th ZigBee node receiving for above-mentioned reference position, n is the ZigBee receiving
The number of node, calculates the logarithmic equation of above-mentioned likelihood function,
This logarithmic equation seeks partial differential to expectation and variance respectively, can obtain maximum likelihood equations group
Probability density can be drawn according to equation group
Expectation and variance that maximum is, this desired value are defined as the signal strength signal intensity instruction of the Wireless Personal Network of this reference position reception
Value, the position coordinates of signal strength indication value, variance and this reference position according to above-mentioned Wireless Personal Network, set up above-mentioned point
Butut.
S140, is modified to the signal strength indication value of the Wireless Personal Network that robot receives, obtains above-mentioned signal strong
The correction value of degree indicated value, calculates the signal of the Wireless Personal Network of this correction value reference position different from above-mentioned distribution map reception
The matching probability of strength indicator value, determines the auxiliary positioning position coordinates of robot according to this matching probability.
It is provided with multiple ZigBee nodes indoors, robot moves to any position indoors and all can receive
The network signal of ZigBee node transmitting, after robot receives the signal strength indication value of Wireless Personal Network, positioner
Obtain the signal strength indication value of the Wireless Personal Network that robot receives, and strong to the signal of the Wireless Personal Network that robot receives
Degree indicated value is modified, and obtains the correction value of above-mentioned signal strength indication value, specifically includes：
According to the signal strength indication value of the Wireless Personal Network in multiple reception for the Preset Time inner machine people, by public affairs
Formula (1) is modified to the signal strength indication value of the Wireless Personal Network that robot receives；
Wherein, in formula (1), RSSI is the correction value of above-mentioned signal strength indication value, and n is to receive in Preset Time
The number of the signal strength indication value of Wireless Personal Network, λ is filtering characteristic parameter, RSSIiFor i-th moment robot reception
The signal strength indication value of Wireless Personal Network.
Above-mentioned Preset Time is time value set in advance, this time value very little, and is less than in robot moving process, warp
Spend the time of each position.
Signal strength indication value due to the Wireless Personal Network of robot reception there may be certain random error, therefore
Need the signal strength indication value of Wireless Personal Network that robot is received to be modified, robot in moving process, every
Individual position, therefore can be according in this position Preset Time all with the network signal of certain frequency reception Wireless Personal Network transmission
The signal strength values of the Wireless Personal Network receiving are strong to the signal of the Wireless Personal Network that robot receives by above-mentioned formula (1)
Degree indicated value is modified, and obtains revised indicated value.
And will be strong for the signal of the Wireless Personal Network of different from above-mentioned distribution map for revised indicated value reference positions reception
Degree indicated value is mated, and calculates the Wireless Personal Network that revised indicated value is received with each reference position on distribution map
The matching probability of signal strength indication value, detailed process includes：The nothing of each reference position reception is obtained from above-mentioned distribution map
The signal strength indication value of line Personal Area Network and variance；The Wireless Personal Network being received according to above-mentioned correction value, each reference position
Signal strength indication value and variance, the signal strength signal intensity calculating the Wireless Personal Network that above-mentioned correction value is received with each reference position refers to
The matching probability of indicating value.
In embodiments of the present invention, when robot moves indoors, more than one can all be received in any position
The signal of ZigBee node transmitting, the correction value of the signal strength indication value of each ZigBee node being received according to robot,
The signal strength indication value of the Wireless Personal Network being received with each reference position on distribution map is mated, and calculates its coupling general
Rate, specifically includes：According to the correction value of signal strength indication value, and the signal of the Wireless Personal Network of each reference position reception
Strength indicator value and variance, by equation belowCalculate signal strength signal intensity to refer to
In the probability of each reference position, wherein, in this formula, m is the number being referenced as position on distribution map to the correction value of indicating value,
μmFor the signal strength indication value of the Wireless Personal Network of m-th reference position reception, σmWireless for m-th reference position reception
The variance of the signal strength indication value of Personal Area Network, RSSItThe signal strength signal intensity of the t-th ZigBee node transmitting receiving for robot
The correction value of indicated value, t for robot can receipt signal ZigBee node number, pm(x, y) is m-th reference position
Probability, the correction value that can be calculated the signal strength indication value of t-th ZigBee node of reception by said method existed
The probability of each reference position, in the signal strength signal intensity instruction of each ZigBee node of t ZigBee node calculating reception
The probability in each reference position for the correction value of value, the probable value of corresponding for each reference position t ZigBee node is multiplied,
Obtain the matching probability with this reference position.
After determining the matching probability with each reference position, corresponding for reference position matching probability is compared,
Determine maximum matching probability；Maximum matching probability corresponding reference position coordinate is defined as the auxiliary positioning position of robot
Put coordinate.
In addition, in embodiments of the present invention, can be passed through with the distance between calculating robot and ZigBee node
This distance and the position coordinates of Wireless Personal Network, determine the auxiliary positioning position coordinates of robot, specifically include：
According to the value preset relation of revised indicated value and the distance between robot and ZigBee node, determine machine
The distance between people and ZigBee node, specifically can by formula RSSI=- (10n log d+A) calculate robot with
The distance between ZigBee node, in above-mentioned formula, RSSI be revised indicated value, n be routing cost index, A be with
Chance error is poor, and d is the distance between robot and ZigBee node.
Because interior is provided with multiple ZigBee nodes, and robot all can receive more than one in moving process
The signal strength indication value of the WLAN of ZigBee node transmission, such as, robot can receive three ZigBee
The signal strength indication value of the WLAN of node-node transmission is it is also possible to receive the wireless local of four ZigBee node transmission
The signal strength indication value of net, it is, of course, also possible to be other numerical value, the signal strength signal intensity of the WLAN being received by robot
Indicated value, can calculate the distance between robot and each ZigBee node.
After calculating the distance between robot and ZigBee node, according to the seat of above-mentioned distance and ZigBee node
Mark, by formula (x-xi)2+(y-yi)2=di 2The auxiliary positioning position coordinates of robot can be calculated, in above-mentioned formula,
(x, y) is the auxiliary positioning position coordinates of robot, (xi, yi) be i-th ZigBee node position coordinates, diFor robot
The distance between with i-th ZigBee node.
Wherein, when arranging ZigBee node indoors, the coordinate of each node is learnt in advance, and certain angle of interior
Fall to being defined as the origin of coordinates, this origin of coordinates is same position with the origin of coordinates of RFID label tag, in the embodiment of the present invention
The origin of coordinates is identical.
S150, the auxiliary positioning position coordinates of the position coordinates according to robot and robot determines the actual bit of robot
Put coordinate.
The position coordinates of robot can be oriented by the RFID label tag of patch on flooring, fixed by Wireless Personal Network
The auxiliary positioning position coordinates of Wei Chu robot, two position coordinateses of above-mentioned robot is carried out fusion treatment, obtains machine
The actual position coordinate of people, specifically includes：
The difference coordinate of the auxiliary positioning position coordinates of the position coordinates of calculating robot and robot；Above-mentioned difference is sat
Target absolute value and preset coordinate are compared；When absolute value is less than or waits with preset coordinate, by the position coordinates of robot
Or any one in the auxiliary positioning position coordinates of robot is defined as the actual position coordinate of robot；When above-mentioned absolute value
During more than preset coordinate, the position coordinates to robot and the auxiliary positioning position coordinates of robot carry out fusion treatment, will melt
The position coordinates that conjunction obtains after processing is defined as the actual position coordinate of robot.
Above-mentioned preset coordinate is the coordinate pre-setting, and the transverse and longitudinal coordinate value of this coordinate can be according to practical application field
Scape is configured, and the embodiment of the present invention does not limit the concrete coordinate value of above-mentioned preset coordinate.
When the absolute value of above-mentioned difference coordinate is less than or equal to preset coordinate, can will be true for the position coordinates of robot
It is set to the actual position coordinate of robot it is also possible to the auxiliary positioning position coordinates of robot be defined as the actual bit of robot
Put coordinate.
When the absolute value of above-mentioned difference coordinate is more than preset coordinate, using Kalman filtering algorithm to above-mentioned robot
The auxiliary positioning position coordinates of position coordinates and robot carries out fusion treatment, will obtain after fusion treatment determining for position coordinates
Actual position coordinate for robot.
In embodiments of the present invention, the Kalman filtering algorithm position coordinates to above-mentioned robot and machine respectively can be adopted
The auxiliary positioning position coordinates filtering of device people, filtered two position coordinateses is merged, is obtained the actual bit of robot
Put coordinate.
Above-mentioned using Kalman filtering algorithm, the position coordinates of robot and the auxiliary positioning position coordinates of robot are entered
Row fusion treatment, specifically includes：Respectively that the auxiliary of the position coordinates of robot and robot is fixed initially with local filter
Position position coordinates carries out part filter, obtains the locally optimal solution of the position coordinates of robot and the auxiliary positioning position of robot
The locally optimal solution of coordinate, afterwards, using the locally optimal solution of the position coordinates to robot for the global filtering device and robot
The locally optimal solution of auxiliary positioning position coordinates is merged, finally, the actual position coordinate of output device people.
Wherein, above-mentioned local filter is according to the position coordinates of robot, and the robot reading from encoder is current
The distance between position and signal source, carry out part filter according to state equation and measurement equation, the auxiliary positioning to robot
Position coordinates carries out part filter using same method.
Above-mentioned encoder is arranged on the afterbody of the motor on robot base.
Because above-mentioned Kalman filtering is prior art, belong to the common knowledge of this area, therefore no longer superfluous in detail herein
State the detailed process carrying out fusion treatment using Kalman filtering algorithm.
After determining the physical location of robot, also include：
Obtain the reading of encoder in current time robot；Reading according to current time encoder and previous moment are compiled
Code device reading determine robot towards angle.
In embodiments of the present invention, encoder is provided with robot, when robot is in moving process, works as robot
Towards angle change when, the reading on encoder can change, after determining the actual position coordinate of robot,
Obtain the reading of current time encoder, the reading of the reading according to current time encoder and previous moment encoder, pass through
Equation below determines the anglec of rotation between robot current time and previous moment, θ=HA (U2-U1), in this formula, θ is
The anglec of rotation between robot current time and previous moment, HA is the corresponding angle of each reading of encoder, U2For current when
Carve the reading of encoder, U1Reading for previous moment encoder.
Wherein it is possible to robot is defined as connection between robot and the origin of coordinates towards angle and robot rises
The angle of line between beginning position and the origin of coordinates, is moved by the reading and robot of encoder during the initial position of robot
The reading of the encoder at the position at the first moment corresponding position afterwards, can calculate robot first moment towards angle
Degree, by that analogy, can calculate robot any time towards angle, so not only can orient the position of robot
Coordinate, can also learn the direction of robot.
In embodiments of the present invention, when institute of robot is indoors there is obstacles that during thing, such as, there is glass, table
The transmission of Wireless Personal Network signal during the barriers such as chair, wall, can be affected, can lead to, the decay of Wireless Personal Network signal transmission,
Therefore it is necessary first to the signal strength indication value of Wireless Personal Network that is an actually-received of calculating robot, can be by public as follows
Formula calculates the loss of the signal strength indication value of Wireless Personal Network of robot reception,
In this formula,The average path of the signal strength indication value of the Wireless Personal Network receiving for robot position damages
Consumption,It is apart from Wireless Personal Network base station d0The average road of the signal strength indication value of Wireless Personal Network receiving at distance
Footpath is lost, and F is decay factor, nSFFor constant, d0For reference distance, that is, the distance between with ZigBee node, this distance is pre-
If, can be 1m, 10m etc., d is the distance between robot position and ZigBee node, and this distance can be passed through
The reading of the encoder of motor afterbody on robot base obtains.
When above-mentioned barrier is different, decay factor F value is different.
Average path loss when the signal strength indication value calculating the Wireless Personal Network that robot position receivesAfterwards, willThe signal strength indication value of the Wireless Personal Network being received with robot is multiplied, and obtains revised signal
Strength indicator value, i.e. the signal strength indication value of the Wireless Personal Network of the actual reception of robot.
In embodiments of the present invention, the signal strength indication value of the Wireless Personal Network that the robot of appearance receives, refers both to
It is the signal strength indication value of the WLAN of the actual reception of robot, that is, used robot in the embodiment of the present invention connects
The signal strength indication value of the Wireless Personal Network received refer to consider decay after the actual reception of the robot that obtains wireless
The signal strength indication value of Personal Area Network.
Position Method for Indoor Robot provided in an embodiment of the present invention, using RF identification positioning and Wireless Personal Network positioning
To robot, position indoors positions two methods simultaneously, when when multilayer floor is positioned it is not necessary to each
Layer all arranges Wireless Personal Network child node, on the one hand decreases the number of the Wireless Personal Network child node of setting, reduces cost,
Between avoiding every layer, the interference of network signal is so that accurate positioning simultaneously.
Embodiment 2
Embodiments provide a kind of Indoor Robot positioner, as shown in Fig. 2 this device includes：First obtains
Delivery block 210, the first computing module 220, the second acquisition module 230, the first determining module 240 and the second determining module 250；
Above-mentioned first acquisition module 210, gathers, for obtaining robot, the label letter that on ground, RFID tag obtains
Breath, this label information includes the position coordinates of RFID tag；
Above-mentioned first computing module 220, for the position coordinates according to above-mentioned RFID tag, the position of calculating robot
Put coordinate；
Above-mentioned second acquisition module 230, for obtain robot the wireless personal area that different reference positions receive indoors
The distribution map of the signal strength indication value of net；
Above-mentioned first determining module 240, the signal strength indication value of the Wireless Personal Network for receiving to robot is carried out
Revise, obtain the correction value of above-mentioned signal strength indication value, calculate this correction value and connect from different reference positions on above-mentioned distribution map
The matching probability of the signal strength indication value of Wireless Personal Network received, determines the auxiliary positioning of robot according to above-mentioned matching probability
Position coordinates；
Above-mentioned second determining module 250, the auxiliary positioning position for the position coordinates according to robot and robot is sat
Mark determines the actual position coordinate of robot.
Wherein, in order to determine robot in each position towards angle, interior provided in an embodiment of the present invention
Robotic positioning device also includes the 3rd acquisition module and the 3rd determining module；
Above-mentioned 3rd acquisition module, for obtaining the reading of encoder in current time robot；Above-mentioned 3rd determination mould
Block, for the reading according to current time encoder and previous moment encoder reading determine robot towards angle.
Wherein, above-mentioned first determining module 240 is carried out to the signal strength indication value of the Wireless Personal Network that robot receives
Repair and be exactly based on amending unit realization, specifically include：
Above-mentioned amending unit, for the signal of the Wireless Personal Network in multiple reception according to Preset Time inner machine people
Strength indicator value, is modified to the signal strength indication value of the Wireless Personal Network that robot receives by formula (1)；
Wherein, in formula (1), RSSI is the correction value of above-mentioned signal strength indication value, and n is to receive in Preset Time
The number of the signal strength indication value of Wireless Personal Network, λ is filtering characteristic parameter, RSSIiFor i-th moment robot reception
The signal strength indication value of Wireless Personal Network.
Wherein, above-mentioned first computing module 220 according to the position coordinates of RFID tag, sit by the position of calculating robot
Mark, is to be realized by computing unit and the first determining unit, specifically includes：
Above-mentioned computing unit, for the position coordinates according to RFID tag, calculating is made up of RFID tag
The center point coordinate of figure；Above-mentioned first determining unit, for being defined as the position coordinates of robot by above-mentioned central point.
Indoor Robot positioner provided in an embodiment of the present invention, using RF identification positioning and Wireless Personal Network positioning
To robot, position indoors positions simultaneously, when when multilayer floor is positioned it is not necessary to all arrange in each layer
Wireless Personal Network child node, on the one hand decreases the number of the Wireless Personal Network child node of setting, reduces cost, avoid simultaneously
Between every layer, the interference of network signal is so that accurate positioning.
The Indoor Robot positioner that the embodiment of the present invention is provided can be the specific hardware on equipment or installation
Software on equipment or firmware etc..The device that the embodiment of the present invention is provided, its realize the technique effect of principle and generation and
Preceding method embodiment is identical, and for briefly describing, device embodiment part does not refer to part, refers in preceding method embodiment
Corresponding contents.Those skilled in the art can be understood that, for convenience and simplicity of description, described above is
The specific work process of system, device and unit, all may be referred to the corresponding process in said method embodiment, here is no longer superfluous
State.
It should be understood that disclosed apparatus and method in embodiment provided by the present invention, other sides can be passed through
Formula is realized.Device embodiment described above is only that schematically for example, the division of described unit, only one kind are patrolled
Volume function divides, and actual can have other dividing mode when realizing, and for example, multiple units or assembly can in conjunction with or can
To be integrated into another system, or some features can be ignored, or does not execute.Another, shown or discussed each other
Coupling or direct-coupling or communication connection can be by some communication interfaces, the INDIRECT COUPLING of device or unit or communication link
Connect, can be electrical, mechanical or other forms.
The described unit illustrating as separating component can be or may not be physically separate, show as unit
The part showing can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.The mesh to realize this embodiment scheme for some or all of unit therein can be selected according to the actual needs
's.
In addition, each functional unit in the embodiment that the present invention provides can be integrated in a processing unit, also may be used
To be that unit is individually physically present it is also possible to two or more units are integrated in a unit.
If described function realized using in the form of SFU software functional unit and as independent production marketing or use when, permissible
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
Partly being embodied in the form of software product of part that prior art is contributed or this technical scheme, this meter
Calculation machine software product is stored in a storage medium, including some instructions with so that a computer equipment (can be individual
People's computer, server, or network equipment etc.) execution each embodiment methods described of the present invention all or part of step.
And aforesaid storage medium includes：USB flash disk, portable hard drive, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
It should be noted that：Similar label and letter represent similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then do not need it to be defined further and explains in subsequent accompanying drawing, additionally, term " the
One ", " second ", " the 3rd " etc. are only used for distinguishing description, and it is not intended that indicating or hint relative importance.
Finally it should be noted that：The specific embodiment of embodiment described above, the only present invention, in order to illustrate the present invention
Technical scheme, be not intended to limit, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this
Bright be described in detail, it will be understood by those within the art that：Any those familiar with the art
The invention discloses technical scope in, it still can be modified to the technical scheme described in previous embodiment or can be light
It is readily conceivable that change, or equivalent is carried out to wherein some technical characteristics；And these modifications, change or replacement, do not make
The essence of appropriate technical solution departs from the spirit and scope of embodiment of the present invention technical scheme.The protection in the present invention all should be covered
Within the scope of.Therefore, protection scope of the present invention should be defined by described scope of the claims.
Claims (10)
1. a kind of Position Method for Indoor Robot is it is characterised in that methods described includes：
Obtain robot and gather the label information that on ground, RFID tag obtains, described label information includes described radio frequency to be known
The position coordinates of distinguishing label；
According to the position coordinates of described RFID tag, calculate the position coordinates of described robot；
Obtain described robot the signal strength indication value of Wireless Personal Network that different reference positions receive indoors distribution
Figure；
The signal strength indication value of the Wireless Personal Network that described robot receives is modified, obtains described signal strength signal intensity instruction
The correction value of value, calculates the signal strength signal intensity of the Wireless Personal Network that described correction value reference position different from described distribution map receives
The matching probability of indicated value, determines the auxiliary positioning position coordinates of described robot according to described matching probability；
The auxiliary positioning position coordinates of the position coordinates according to described robot and described robot determines the reality of described robot
Border position coordinates.
2. method according to claim 1 is it is characterised in that the described position coordinates according to described robot and described machine
After the auxiliary positioning position coordinates of device people determines the actual position coordinate of described robot, also include：
Obtain the reading of encoder in robot described in current time；
According to current time, the reading of encoder and the reading of encoder described in previous moment determine the court of described robot
To angle.
3. method according to claim 1 it is characterised in that described to described robot receive Wireless Personal Network letter
Number strength indicator value is modified, and obtains the correction value of described signal strength indication value, including：
According to the signal strength indication value of the Wireless Personal Network in multiple reception for the robot described in Preset Time, by public affairs
Formula (1) is modified to the signal strength indication value of the Wireless Personal Network that described robot receives；
Wherein, in formula (1), RSSI is the correction value of described signal strength indication value, and n is the wireless of reception in Preset Time
The number of the signal strength indication value of Personal Area Network, λ is filtering characteristic parameter, RSSIiDescribed in i-th moment, robot receives
The signal strength indication value of Wireless Personal Network.
4. method according to claim 1 is it is characterised in that the described position coordinates according to described RFID tag,
Calculate the position coordinates of described robot, including：
According to the position coordinates of described RFID tag, the central point calculating the figure being made up of described RFID tag is sat
Mark；
Described center point coordinate is defined as the position coordinates of described robot.
5. method according to claim 1 is it is characterised in that the described position coordinates according to described robot and described machine
The auxiliary positioning position coordinates of device people determines the actual position coordinate of described robot, including：
Calculate the difference coordinate of the position coordinates of described robot and the auxiliary positioning position coordinates of described robot；
The absolute value of described difference coordinate is compared with preset coordinate；
When described absolute value is less than or equal to described preset coordinate, by the position coordinates of described robot or described robot
Any one in auxiliary positioning position coordinates is defined as the actual position coordinate of described robot；
When described absolute value is more than described preset coordinate, the auxiliary of the position coordinates to described robot and described robot is fixed
Position position coordinates carries out fusion treatment, and the physical location that the position coordinates obtaining after fusion treatment is defined as described robot is sat
Mark.
6. method according to claim 1 is it is characterised in that the described correction value of described calculating is different from described distribution map
The matching probability of the signal strength indication value of Wireless Personal Network that reference position receives, including：
The signal strength indication value of Wireless Personal Network and the variance that each described reference position receives is obtained from described distribution map；
The signal strength indication value of the Wireless Personal Network being received according to described correction value, each described reference position and variance, meter
Calculate the matching probability of the signal strength indication value of Wireless Personal Network that described correction value is received with each described reference position.
7. a kind of Indoor Robot positioner is it is characterised in that described device includes：
First acquisition module, gathers the label information that on ground, RFID tag obtains, described label for obtaining robot
Information includes the position coordinates of described RFID tag；
First computing module, for the position coordinates according to described RFID tag, calculates the position coordinates of described robot；
Second acquisition module, for obtain described robot the Wireless Personal Network that different reference positions receive indoors signal
The distribution map of strength indicator value；
First determining module, for being modified to the signal strength indication value of the Wireless Personal Network that described robot receives, obtains
To the correction value of described signal strength indication value, calculate the nothing that described correction value reference position different from described distribution map receives
The matching probability of the signal strength indication value of line Personal Area Network, determines the auxiliary positioning position of described robot according to described matching probability
Put coordinate；
Second determining module, the auxiliary positioning position coordinates for the position coordinates according to described robot and described robot is true
The actual position coordinate of fixed described robot.
8. device according to claim 7 is it is characterised in that described device also includes：
3rd acquisition module, for obtaining the reading of encoder in robot described in current time；
3rd determining module, described in the reading for encoder according to current time and previous moment, the reading of encoder is true
Fixed described robot towards angle.
9. device according to claim 7 is it is characterised in that described first determining module includes：
Amending unit, for the signal strength signal intensity of the Wireless Personal Network in multiple reception according to robot described in Preset Time
Indicated value, is modified to the signal strength indication value of the Wireless Personal Network that described robot receives by formula (1)；
Wherein, in formula (1), RSSI is the correction value of described signal strength indication value, and n is the wireless of reception in Preset Time
The number of the signal strength indication value of Personal Area Network, λ is filtering characteristic parameter, RSSIiDescribed in i-th moment, robot receives
The signal strength indication value of Wireless Personal Network.
10. device according to claim 7 is it is characterised in that described first computing module includes：
Computing unit, for the position coordinates according to described RFID tag, calculating is made up of described RFID tag
The center point coordinate of figure；
First determining unit, for being defined as the position coordinates of described robot by described center point coordinate.
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| CN107560618B (en) * | 2017-08-25 | 2019-10-29 | 河北工业大学 | Robot indoor orientation method based on RFID |
| CN107560618A (en) * | 2017-08-25 | 2018-01-09 | 河北工业大学 | Robot indoor orientation method based on RFID |
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| CN113093103A (en) * | 2021-06-10 | 2021-07-09 | 深之蓝海洋科技股份有限公司 | Underwater robot positioning detection method and system |
| CN113573232A (en) * | 2021-07-13 | 2021-10-29 | 深圳优地科技有限公司 | Robot roadway positioning method, device, equipment and storage medium |
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| CN118317255A (en) * | 2024-06-11 | 2024-07-09 | 山东高速信息集团有限公司 | RFID-based object space position tracking system and method |
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